ADLINK PCI-8154 User Manual

PCI-8154

Advanced & Modulized
4-Axis Servo / Stepper

Motion Control Card

User’s Manual

Manual Rev. 2.00
Revision Date: February 22, 2006
Part No: 50-11146-1000

Advance Technologies; Automate the World.

Copyright 2007 ADLINK TECHNOLOGY INC.
All Rights Reserved.

The information in this document is subject to change without prior
notice in order to improve reliability , design, and function and does
not represent a commitment on the part of the manufacturer.

In no event will the manufacturer be liable for direct, indirect, spe­cial, incidental, or consequential damages arising out of the use or
inability to use the product or documentation, even if advised of
the possibility of such damages.

This document contains proprietary information protected by copy­right. All rights are reserved. No part of this manual may be repro­duced by any mechanical, elec tronic, or other means in a ny form
without prior written permission of the manufacturer.

Trademarks
NuDAQ, NuIPC, DAQBench are registered trademarks of ADLINK

TECHNOLOGY INC.
Product names mentioned herein are used for identification pur-

poses only and may be trademarks and/or registered trademarks
of their respective companies.

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Please contact us should you require any service or assistance.

ADLINK TECHNOLOGY INC.

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Please give a detailed description of the problem(s):

Table of Contents

Table of Contents..................................................................... i

List of Tables........................................................................... v

List of Figures........................................................................ vi

1 Introduction ........................................................................ 1

1.1 Features............................................................................... 4

1.2 Specifications....................................................................... 6

1.3 Supported Software............................................................. 8

Programming Library ........................................ ... ...........8

MotionCreatorPro ........................................................... 8

1.4 Available Terminal Board..................................................... 8

2 Installation .......................................................................... 9

2.1 Package Contents ............................................................... 9

2.2 PCI-8154 Outline Drawing................................................. 10

2.3 PCI-8154 Hardware Installation......................................... 11

Hardware configuration .................................................11

PCI slot selection ................. ... ... .... ... ... ... ......................11

Installation Procedures .................................................11

Troubleshooting4: ................................ ......................... 11

2.4 Software Driver Installation................................................ 13

2.5 CN3 Pin Assignments: Main Connector ............................ 13

2.6 K1/K2 Pin Assignments: Simultaneous Start/Stop ............ 15

2.7 JP2 to JP9 Jumper Setting for Pulse Output ..................... 15

2.8 SW1 Card Index Selection................................................. 16

2.9 CN4 Manual Pulsar............................................................ 17

3 Signal Connections.......................................................... 19

3.1 Pulse Output Signals OUT and DIR .................................. 20

3.2 Encoder Feedback Signals EA, EB and EZ....................... 23

3.3 Origin Signal ORG............................................................. 26

3.4 End-Limit Signals PEL and MEL........................................ 27

3.5 In-position Signal INP ........................................................ 28

3.6 Alarm Signal ALM.............................................................. 29

3.7 Deviation Counter Clear Signal ERC................................. 30

3.8 General-purpose Signal SVON............... ... ... ... .... ... ... ... .... . 31

Table of Contents i

3.9 General-purpose Signal RDY ............................................ 32

3.10 Multi-Functional output pin: DO/CMP ................................ 33

3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMG...... 34

3.12 Pulser Input Signals PA and PB (PCI-8154)...................... 35

3.13 Simultaneously Start/Stop Signals STA and STP.............. 36

4 Operation Theory.............................................................. 39

4.1 Classifications of Motion Controller.................................... 39

Voltage motion control interface ................................... 39

Pulse motion control interface ......................................40

Network motion control interface .................................. 40

Software real-time motion control kernel ..................... .41

DSP motion control kernel ............................................41

ASIC motion control kernel ...........................................41

Compare Table of all motion control types ...................42

PCI-8154 motion controller type ...................................42

4.2 Motion Control Modes........................................................ 43

Coordinate system ........................................................43

Absolute and relative position move .............................44

Trapezoidal speed profile .............................................45

S-curve and Bell-curve speed profile .................. .......... 46

Velocity mode ...............................................................48

One axis position mode ................................................49

Two axes linear interpolation position mode .................50

Two axes circular interpolation mode ...........................51

Continuous motion ........................................................52

Home Return Mode ......................................................55

Home Search Function .................................................62

Manual Pulser Function ................................................63

Simultaneous Start Function .........................................63

Speed Override Function ..............................................64

Position Override Function ...........................................65

4.3 The motor driver interface.................................................. 66

Pulse Command Output Interface ................................66

Pulse feedback input interface ......................................69

In position signal ... .... ... ... ... .... ... ... ... ..............................71

Servo alarm signal ........................................................71

Error clear signal ...........................................................72

Servo ON/OFF switch ..................... ..............................72

Servo Ready Signal ......................................................73

ii Table of Contents

Servo alarm reset switch ..............................................73

4.4 Mechanical switch interface............................................... 74

Original or home signal .................................................74

End-Limit switch signal .................................................74

Slow down switch .........................................................74

Positioning Start switch .................................. ... ... ... .... .. 75

Counter Clear switch ....................................................75

Counter Latch switch ....................................................75

Emergency stop input ...................................................75

4.5 The Counters................................................... .... ... ... ... .... . 76

Command position counter ...........................................76

Feedback position counter .......................................... .. 77

Command and Feedback error counter ........................77

General purpose counter .............................................. 78

Target position recorder ............................. .... ... ... ... .... .. 78

4.6 The Comparators............................. .................................. 79

Soft end-limit comparators ............................................79

Command and feedback error counter comparators ....79

General comparator ......................................................79

Trigger comparator .......................................................80

4.7 Other Motion Functions ..................................................... 81

Backlash compensation and slip corrections ................81

Vibration restriction function .........................................81

Speed profile calculation function .................................82

4.8 Interrupt Control................................................................. 83

4.9 Multiple Card Operation..................................................... 87

5 MotionCreatorPro............................................................. 89

5.1 Execute MotionCreatorPro ..................... ... ... ..................... 89

5.2 About MotionCreatorPro.................................................... 90

5.3 MotionCreatorPro Introduction........................................... 91

Main Menu ....................................................................91

Select Menu .................................................................. 92

Card Information Menu .................................. ............... 93

Configuration Menu .......... ... ... ... .... ... ... ... ... .... ... ... ... .... .. 94

Single Axis Operation Menu .......................................100

Two-Axis and Four-Axis Operation Menu ................... 108

2D_Motion Menu ........................................................112

Help Menu ..................................................................119

Table of Contents iii

6 Function Library.............................................................. 121

6.1 List of Functions. ... ... ... .......................................... .... ... ... . 122

6.2 C/C++ Programming Library............................................ 131

6.3 System and Initialization.................................................. 132

6.4 Pulse Input/Output Configuration..................................... 136

6.5 Velocity mode motion................................ ... ... ... ... .... ... ... . 139

6.6 Single Axis Position Mode ............................................... 142

6.7 Linear Interpolated Motion............................................... 146

6.8 Circular Interpolation Motion.... .... ... ... ... .... ... .................... 155

6.9 Helical Interpolation Motion.......................... .................... 162

6.10 Home Return Mode...................................... ... ... ... .... ... ... . 166

6.11 Manual Pulser Motion............................... ... ... ... ... .... ... ... . 169

6.12 Motion Status................................................................... 172

6.13 Motion Interface I/O ......................................................... 174

6.14 Interrupt Control................................................. .............. 182

6.15 Position Control and Counters......................................... 186

6.16 Position Compare and Latch............................................ 191

6.17 Continuous motion........................................................... 196

6.18 Multiple Axes Simultaneous Operation............................ 198

6.19 General-Purpose DIO.................................. ... ... ... .... ... ... . 201

6.20 Soft Limit............ ... ... ... .... ... ... ... .... .................................... 203

6.21 Backlash Compensation / Vibration Suppression........... . 205

6.22 Speed Profile Calculation................................................. 207

6.23 Return Code.................................... ... .............................. 211

7 Connection Example ...................................................... 213

7.1 General Description of Wiring.. .... ... ... ... .... ... .................... 213

7.2 Terminal Board User Guide............................................. 213

Warranty Policy ................................................................... 215

iv Table of Contents

List of Tables

Table 2-1: CN3 Pin Assignments: Main Connector ................. 13

Table 2-2: K1/K2 Pin Assignments: Simultaneous Start/Stop . 15

Table 2-3: SW1 Card Index ..................................................... 16

Table 2-4: CN4 Manual Pulsar ................................................ 17

Table 4-1: Motion Interrupt Source Bit Settings ....................... 84

Table 4-2: Error Interrupt return codes .................................... 85

Table 6-1: Data type definitions ............................................. 131

List of Tables v

List of Figures

Figure 1-1: PCI-8154 Block Diagram ........................................... 2

Figure 1-2: Flow chart for building an application ........................ 3

Figure 2-1: PCB Layout of the PCI-8154 ................................... 10

vi List of Figures

1 Introduction

The PCI-8154 is an advanced & modulized 4-axis motion control­ler card with a PCI interface. It can generate high frequ ency pulses
(6.55MHz) to drive stepper or servomotors. As a motion controller,
it can provide 4-axis linear and circular interpolation and continu ­ous interpolation for continuous velocity. Also, changing position/
speed on the fly is available with a single axis operation.

Multiple PCI-8154 cards can be used in one system. Incremental
encoder interfaces on all eight axes provide the ability to correct
positioning errors generated by inaccurate mechanical transmis­sions.

The PCI-8154 is a completely new design. This carrier board has
4-axis pulse train output control channels. For additional functions,
such as high-speed triggering or distributed I/O control, you can
add on a daughter board based on requirement. This board has
position compare function. Like the line scan application, the appli­cation needs motion controller to generate high speed triggering
pulse and gain the high resolution images. In this situation, you
can adopt a DB-8150 to extend the function on PCI-8154. In addi­tion to motion control, sensors and actuators are key elements in
machine automation. There typically needs to I/O to integrate the
sensors and actuators in the contro ller. ADLINK also provides you
another way to connect these devices: distributed I/O. Using
daughter board, distributed I/O can be achieved with PCI-8154.
This cost-effective configuration can reduce wiring ef fort and phys­ical controller size.

Figure 1-1 shows the functional block diagram of the PCI-8154
card. The motion control functions include trapezoidal an d S-curve
acceleration/deceleration, linear and circular interpolation between
two axes and continuous motion positioning, and 13 home return
modes. All these functions and complex computations are per­formed internally by the ASIC, thus it can save CPU loading.

The PCI-8154 also offers three user-friendly functions.

1. Card Index Setting:

Introduction 1

The card index value of the PCI-8154 can be set with a DIP
switch to a value between 0 and 15. This is useful for machine
makers if the whole control system is very huge.

2. Emergency Input

An emergency input pin can be wired to an emergency button
to stop sending pulse output once activated.

3. Software’s Security Protection

To secure applications, a 16-bit value can be set in the
EEPROM to prevent copying of custom programs.

Figure 1-1: PCI-8154 Block Diagram

2Introduction

MotionCreatorPro is a Windows-based application development
software package included with the PCI-8154. MotionCreatorPro
is useful for debugging a motion control system during the design
phase of a project. An on-screen display lists all installed axes
information and I/O signal status of the PCI-8154.

Windows programming libraries are also provided for C++ compil­ers and Visual Basic. Sample programs are provided to illustrate
the operations of the functions.

Figure 1-2 illustrates a flow chart of the recommended process in
using this manual in developing an application. Refer to the
related chapters for details of each step.

Figure 1-2: Flow chart for building an application

Introduction 3

1.1 Features

The following list summarizes the main features of the PCI- 8154
motion control system.

X 32-bit PCI bus Plug-and-Play (Universal)
X 4 axes of step and direction pulse output for controlling

stepping or servomotor

X Maximum output frequency of 6.55MPPS
X Pulse output options: OUT/DIR, CW/CCW, AB phase
X Pulse input options: CW/CCW, AB phase x1, x2, x4
X Maximum pulse input frequency of 3.2Mhz in CW/CCW or

AB phase X1 mode (AB phase x4 can reach 6.5Mhz).

X Programmable acceleration and deceleration time for all

modes

X Trapezoidal and S-curve velocity profiles for all modes
X 2 to 4 axes linear interpolation
X 2 axes circular interpolation
X Continuous interpolation for contour following motion
X Change position and speed on the fly
X 13 home return modes with auto searching
X Hardware backlash compensator and vibration suppression
X 2 software end-limits for each axis
X 28-bit up/down counter for incremental encoder feedback
X Home switch, index signal (EZ), positive, and negative end

limit switches interface on all axes

X 4-axis high speed position latch input
X 4-axis position compare and trigger output
X All digital input and output signals are 2500V

X Programmable interrupt sources
X Simultaneous start/stop motion on multiple axes
X Manual pulser input interface
X Card index selection
X Security protection on EERPOM

isolated

rms

4Introduction

X Dedicated emergency input pin for wiring
X Software supports a maximum of up to 12 PCI-8154 cards

operation in one system

X Compact PCB design
X Includes MotionCreatorPro, a Microsoft Windows-based

application development software

X PCI-8154 libraries and utilities for Windows 2000/XP/Vista.

Introduction 5

1.2 Specifications

Applicable Motors:

X Stepping motors
X AC or DC servomotors with pulse train input servo drivers

Performance:

X Number of controllable axes: 4
X Maximum pulse output frequency: 6.55MPPS, linear, trape-

zoidal, or S-Curve velocity profile drive

X Internal reference clock: 19.66MHz
X 28-bit up/down counter range: 0-268, 435, 455 or –134,

217, 728 to +134, 217, 727

X Position pulse setting range (28-bit): -134, 217, 728 to

+134, 217, 728

X Pulse rate setting range (Pulse Ratio = 1: 65535):

Z 0.1 PPS to 6553.5 PPS. (Multiplier = 0.1)
Z 1 PPS to 65535 PPS. (Multiplier = 1)
Z 100 PPS to 6553500 PPS. (Multiplier = 100)

6Introduction

I/O Signales:

X Input/Output signals for each axis
X All I/O signal are optically isolated with 2500Vrms isolation

voltage

X Command pulse output pins: OUT and DIR
X Incremental encoder signals input pins: EA and EB
X Encoder index signal input pin: EZ
X Mechanical limit/home signal input pins: ±EL, ORG
X Composite pins: DI / LTC (Latch) / SD (Slow-down) / PCS

(Position Change Signal) / CLR (Clear) / EMG (Emergency
Input)

X Servomotor interface I/O pins: INP, ALM, and ERC
X General-purposed digital output pin: SVON, DO
X General-purposed digital input pin: RDY, GDI
X Pulse signal input pin: PA and PB (with Isolation)
X Simultaneous Start/Stop signal: STA and STP

General Specifications

X Connectors: 100-pin SCSI-type connector
X Operating Temperature: 0°C - 50°C
X Storage Temperature: -20°C - 80°C
X Humidity: 5 - 85%, non-condensing

Power Consumption

X Slot power supply (input): +5V DC ±5%, 900mA max
X External power supply (input): +24V DC ±5%, 500mA max
X External power supply (output): +5V DC ±5%, 300mA, max

PCI-8154 Dimensions (PCB size):

X 185mm(L) X 100 mm(W)

Introduction 7

1.3 Supported Software

1.3.1 Programming Library

Windows 2000/XP/Vista DLLs are provided for the PCI-8154.
These function libraries are shipped with the board.

1.3.2 MotionCreatorPro

This Windows-based utility is used to setup cards, motors, and
systems. It can also aid in debugging hardware and software prob­lems. It allows users to set I/O logic parameters to be loaded in
their own program. This product is also bundled with the card.

Refer to Chapter 5 for more details.

1.4 Available Terminal Board

ADLINK provides the servo & steppers use terminal board for
easy connection. For steppers, we provide DIN-100S which is pin­to-pin terminal board. For servo users, ADLINK offers DIN-814M,
DIN-814M-J3A, DIN-814Y and DIN-814P-A4. The suitable servos
are listed as follows:

Mitsubishi J2 Super DIN-814M

Mitsubishi J3A DIN-814M-J3A

Ya skawa Sigma II DIN-814Y

Panasonic MINAS A4 DIN-8 14P-A4

8Introduction

2 Installation

This chapter describes how to install PCI-8154. Please follow
these steps below:

X Check what you have (section 2.1)
X Check the PCB (section 2.2)
X Install the hardware (section 2.3)
X Install the software driver (section 2.4)
X Understanding the I/O signal connections (chapter 3) and

their operation (chapter 4)

X Understanding the connector pin assignm e nts (the rem a in-

ing sections) and wiring the connections

2.1 Package Contents

In addition to this User’s Guide, the package also includes the fol­lowing items:

X PCI-8154: advanced 4-axis Servo / Stepper Motion Control

Card

X ADLINK All-in-one Compact Disc

Note: The terminal board is an optional accessory and would not

be included in PCI-8154 package.

If any of these items are missing or damaged, contact the dealer
from whom you purchased the product. Save the shipping materi­als and carton to ship or store the product in the future.

Installation 9

2.2 PCI-8154 Outline Drawing

Figure 2-1: PCB Layout of the PCI-8154

X CN3: Input / Output Signal Connector (100-pin)
X K1 / K2: Simultaneous Start / Stop Connector
X CN4: Manual Pulsar
X SW1: DIP switch for card index selection (0-15)
X JP2-JP9: Pulse output selection jumper (Line Driver / Open

Collector)

10 Installation

2.3 PCI-8154 Hardware Installation

2.3.1 Hardware configuration

The PCI-8154 is fully Plug-and-Play compliant. Hence, memory
allocation (I/O port locations) and IRQ channel of the PCI card are
assigned by the system BIOS. The address assignment is done
on a board-by-board basis for all PCI cards in the system.

2.3.2 PCI slot selection

Some computer system may hav e both PC I and ISA slots. Do not
force the PCI card into a PC/AT slot. The PCI-8154 can be used in
any PCI slot.

2.3.3 Installation Procedures

1. Read through this manual and setup the jumper accord­ing to your application

2. Turn off your computer. Turn off all accessories (printer,
modem, monitor, etc.) connected to computer. Remove
the cover from the computer.

3. Select a 32-bit PCI expansion slot. PCI slots are shorter
than ISA or EISA slots and are usually white or ivory.

4. Before handling the PCI-8154, discharge any static
buildup on your body by touching the metal case of the
computer. Hold the edge of the card and do not touch
the components.

5. Position the board into the PCI slot you have selected.

6. Secure the card in place at the rear panel of the system
unit using screws removed from the slot.

2.3.4 Troubleshooting4:

If your system doesn’t boot or if you experience erratic operation
with your PCI board in place, it’s most likely caused by an interrupt
conflict (possibly an incorrect ISA setup). In general, the solution,
once determined it is not a simple oversight, is to consult the BIOS
documentation that comes with your system.

Installation 11

Check the control panel of the Windows system if the card is listed
by the system. If not, check the PCI settings in the BIOS or use
another PCI slot.

12 Installation

2.4 Software Driver Installation

1. Autorun the ADLINK All-In-One CD. Choose Driver
Installation -> Motion Control -> PCI-8154.

2. Follow the procedures of the installer.

3. After setup installation is completed, rest art windows.

Note: Please download the latest software from ADLINK website if

necessary.

2.5 CN3 Pin Assignments: Main Connector

CN3 is the main connector for the motion control I/O signals.

No. Name I/O Function No. Name I/O Function

1 VDD O +5V power supply output 51 VDD O +5V power supply output
2 EXGND - Ext. power ground 52 EXGND - Ext. power ground
3 OUT0+ O Pulse signal (+) 53 OUT2+ O Pulse signal (+)
4 OUT0- O Pulse signal (-) 54 OUT2- O Pulse signal (-)
5 DIR0+ O Dir. signal (+) 55 DIR2+ O Dir. signal (+)
6 DIR0- O Dir. signal (-) 56 DIR2- O Dir. signal (-)
7 SVON0 O Servo On/Off 57 SVON2 O Servo On/Off
8 ERC0 O Dev. ctr, clr. Signal 58 ERC2 O Dev. ctr, clr. signal

9 ALM0 I Alarm signal 59 ALM2 I Alarm signal
10 INP0 I In-position signal 60 INP2 I In-position signal
11 RDY0 I Multi-purpose Input signal 61 RDY2 I Multi-purpose Input signal
12 EXGND Ext. power ground 62 EXGND Ext. power ground
13 EA0+ I Encoder A-phase (+) 63 EA2+ I Encoder A-phase (+)
14 EA0- I Encoder A-phase (-) 64 EA2- I Encoder A-phase (-)
15 EB0+ I Encoder B-phase (+) 65 EB2+ I Encoder B-phase (+)
16 EB0- I Encoder B-phase (-) 66 EB2- I Encoder B-phase (-)
17 EZ0+ I Encoder Z-phase (+) 67 EZ2+ I Encoder Z-phase (+)
18 EZ0- I Encoder Z-phase (-) 68 EZ2- I Encoder Z-phase (-)
19 VDD O +5V power supply output 69 VDD O +5V power supply output
20 EXGND - Ext. power ground 70 EXGND - Ext. power ground
21 OUT1+ O Pulse signal (+) 71 OUT3+ O Pulse signal (+)
22 OUT1- O Pulse signal (-) 72 OUT3- O Pulse signal (-)
23 DIR1+ O Dir. signal (+) 73 DIR3+ O Dir. signal (+)
24 DIR1- O Dir. signal (-) 74 DIR3- O Dir. signal (-)

Table 2-1: CN3 Pin Assignments: Main Connector

Installation 13

No. Name I/O Function No. Name I/O Function

25 SVON1 O Servo On/Off 75 SVON3 O Servo On/Off
26 ERC1 O Dev. ctr, clr. Signal 76 ERC3 O Dev. ctr, clr. signal
27 ALM1 I Alarm signal 77 ALM3 I Alarm signal
28 INP1 I In-position signal 78 INP3 I In-position signal
29 RDY1 I Multi-purpose Input signal 79 RDY3 I Multi-purpose Input signal
30 EXGND Ext. power ground 80 EXGND Ext. power ground
31 EA1+ I Encoder A-phase (+) 81 EA3+ I Encoder A-phase (+)
32 EA1- I Encoder A-phase (-) 82 EA3- I Encoder A-phase (-)
33 EB1+ I Encoder B-phase (+) 83 EB3+ I Encoder B-phase (+)
34 EB1- I Encoder B-phase (-) 84 EB3- I Encoder B-phase (-)
35 EZ1+ I Encoder Z-phase (+) 85 EZ3+ I Encoder Z-phase (+)
36 EZ1- I Encoder Z-phase (-) 86 EZ3- I Encoder Z-phase (-)
37 PEL0 I End limit signal (+) 87 PEL2 I End limit signal (+)
38 MEL0 I End limit signal (-) 88 MEL2 I End limit signal (-)
39 GDI0 I DI/LTC/PCS/SD/CLR0 89 GDI2 I DI/LTC/PCS/SD/CLR2
40 DO0 O General Output 0 90 DO2 O General Output 2
41 ORG0 I Origin signal 91 ORG2 I Origin signal
42 EXGND Ext. power ground 92 EXGND Ext. power ground
43 PEL1 I End limit signal (+) 93 PEL3 I End limit signal (+)
44 MEL1 I End limit signal (-) 94 MEL3 I End limit signal (-)
45 GDI1 I DI/LTC/PCS/SD/CLR1/EMG 95 GDI3 I DI/LTC/PCS/SD/CLR3
46 DO1 O General Output 1 96 DO3 O General Output 3
47 ORG1 I Origin signal 97 ORG3 I Origin signal
48 EXGND - Ext. power ground 98 EXGND - Ext. power ground
49 EXGND - Ext. power ground 99 E_24V - Isolation power Input, +24V
50 EXGND - Ext. power ground 100 E_24V - Isolation power Input, +24V

Table 2-1: CN3 Pin Assignments: Main Connector

14 Installation

2.6 K1/K2 Pin Assignments: Simultaneous Start/ Stop

K1 and K2 are for simultaneous st ar t/stop signals for mu ltiple axes
or multiple cards.

No. Name Function

1 +5V PCI Bus power Output (VCC)
2 S TA Simultaneous start signal input/output
3 STP Simultaneous stop signal input/output
4 GND PCI Bus power ground

T able 2-2: K1/K2 Pin Assignments: Simultaneous Start/Stop

Note: +5V and GND pins are provided by the PCI Bus power.

2.7 JP2 to JP9 Jumper Setting for Pulse Output

JP2-JP9 are used to set the type of pulse output signals (DIR and
OUT). The output signal type can either be differential line driver
or open collector output. Refer to section 3.1 for detail jumper set­tings. The default setting is differential line driver mode. The map­ping table is as follows:

JP6 & JP7 Axis 0
JP4 & JP5 Axis 1
JP8 & JP9 Axis 2
JP2 & JP3 Axis 3

Installation 15

2.8 SW1 Card Index Selection

The SW1 switch is used to set the card index. For example, if 1 is
set to ON and the others are OFF, that card index is 1. The index
value can be from 0 to 15. Refer to the following table for details.

Card ID Switch Sett ing (ON=1)

00000
10001
20010
30011
40100
50101
60110
70111
81000

91001
10 1010
11 1011
12 1100
13 1101
14 1110
15 1111

T able 2-3: SW1 Card Index

16 Installation

2.9 CN4 Manual Pulsar

The signals on CN4 are for manual pulsar input.

No. Name Function (Axis)

1 VDD Isolated Power +5V
2 PA+ Pulser A+ pha se signal input
3 PA- Pulser A-phase signal input
4 PB+ Pulser B+ phase signal input
5 PB- Pulser B-phase signal input
6 EXGND External Ground
7 N/A Not Available
8 N/A Not Available
9 N/A Not Available

T able 2-4: CN4 Manual Pulsar

Note: The +5V and GND pins are directly given by the PCI-bus

power. Therefore, these signals are not isolated.

Installation 17

18 Installation

3 Signal Connections

Signal connections of all I/O’s are described in this chapter. Refer
to the contents of this chapter before wiring a ny cable between the
PCI-8154 and any motor driver.

This chapter contains the following sections:
Section 3.1 Pulse Output Signals OUT and DIR

Section 3.2 Encoder Feedback Signals EA, EB and EZ
Section 3.3 Orig in Sign al ORG
Section 3.4 End- Lim it Signa ls PEL an d MEL
Section 3.5 In-position signals INP
Section 3.6 Alarm sign al ALM
Section 3.7 Devia tio n coun te r clea r signal ERC
Section 3.8 general-purpose signals SVON
Section 3.9 Gen e ra l-p ur po se s ign al RDY
Section 3.10 Multifunction output pin: DO/CMP
Section 3.11 Multifunction input signal DI/LTC/SD/PCS/CLR/EMG
Section 3.12 Pulse input signals PA and PB
Section 3.13 Simultaneous start/stop signals STA and STP

Signal Connections 19

3.1 Pulse Output Signals OUT and DIR

There are 4 axes pulse output signals on the PCI-8154. For each
axis, two pairs of OUT and DIR differential signals are used to
transmit the pulse train and indicate the direction. The OUT and
DIR signals can also be programmed as CW and CCW signal
pairs. Refer to section 4.1.1 for details of the logical characteristics
of the OUT and DIR signals. In this section, the electrical charac ­teristics of the OUT and DIR signals are detailed. Each signal con­sists of a pair of differential signals. For example, OUT0 consists
of OUT0+ and OUT0- signals. The following table shows all pulse
output signals on CN3.

CN3 Pin No. Signal Name Description Axis #

3 OUT0+ Pulse signals (+) 0
4 OUT0- Pulse signals (-) 0
5 DIR0+ Direction signal (+) 0

6 DIR0- Direction signal (-) 0
21 OUT1+ Pulse signals (+) 1
22 OUT1- Pulse signals (-) 1
23 DIR1+ Direction signal (+) 1
24 DIR1- Direction signal (-) 1
53 OUT2+ Pulse signals (+) 2
54 OUT2- Pulse signals (-) 2
55 DIR2+ Direction signal (+) 2
56 DIR2- Direction signal (-) 2
71 OUT3+ Pulse signals (+) 3
72 OUT3- Pulse signals (-) 3
73 DIR3+ Direction signal (+) 3
74 DIR3- Direction signal (-) 3

The output of the OUT or DIR signals can be configured by jump­ers as either differential line driver s or open collector outp ut. Users

20 Signal Connections